I’ve been working on my hexapod, and I’ve spent the last weeks struggling with inverse kinematics. I found a great explanation on this website. I started by measuring the parts of the legs. The legs are made of 3 parts, coxa, femur and tibia. I then copied quite a bit of code from the sketch [...]
Some time ago I wrote a sketch to control a servo with a potentiometer without using the delay function, you can find it here. This time I wanted to move or sweep a servo between 2 positions. The Arduino IDE comes with a sweep example, you can find it under File -> Examples -> Servo [...]
Small update on my hexapod: The past days I fiddled some more with my hexapod sketch. It now listens pretty well to my remote control. I first had some issues with controlling the servos. My code had some small errors, several walking gaits would be running at the same time causing the servos to act [...]
I have spent a lot of time on my little hexapod the last couple of days. I have finished writing the code for the basic walking gaits, forward/backward/left and right. This is the walking gait I have come up with: FORWARD walking gait knee up 1,3,5 knee down 2,4,6 hip forward 1,3,5 hip backward 2,4,6 [...]
